Image data processing method, device, platform, and storage medium

ABSTRACT

An image data processing method includes obtaining flight state information of an unmanned aerial vehicle (UAV), selecting a target image processing strategy from a plurality of image processing strategies based on the flight state information, and processing image data obtained by an imaging device carried by the UAV based on the target image processing strategy to obtain processed image data. The plurality of image processing strategies include an image stabilization strategy.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of International Application No.PCT/CN2018/071690, filed on Jan. 7, 2018, the entire content of which isincorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to the field of control technology and,more specifically, to an image data processing method, device, platform,and storage medium.

BACKGROUND

With the development of flight technology, aircrafts such as unmannedaerial vehicles (UAVs) and unmanned robots are widely used in plantprotection, aerial photography, forest fire alarm monitoring, etc.,which brings many conveniences to people's daily activities. In theprocess of shooting with an aircraft, since the aircraft can be affectedby factors such as airflow or vehicle body vibration, the image obtainedcan be distorted, which may result in poor quality of the obtainedimage, as such, it is difficult to obtain useful information from theimage. Therefore, extensive researches have been devoted to improvequality of the obtained image.

SUMMARY

In accordance with the disclosure, there is provided an image dataprocessing method including obtaining flight state information of anunmanned aerial vehicle (UAV), selecting a target image processingstrategy from a plurality of image processing strategies based on theflight state information, and processing image data obtained by animaging device carried by the UAV based on the target image processingstrategy to obtain processed image data. The plurality of imageprocessing strategies include an image stabilization strategy.

Also in accordance with the disclosure, there is provided a smart deviceincluding a processor and a memory storing program instructions that,when executed by the processor, cause the processor to obtain flightstate information of an unmanned aerial vehicle (UAV), select a targetimage processing strategy from a plurality of image processingstrategies based on the flight state information, and process image dataobtained by an imaging device carried by the UAV based on the targetimage processing strategy to obtain processed image data. The pluralityof image processing strategies include an image stabilization strategy.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to illustrate the technical solutions in accordance with theembodiments of the present disclosure more clearly, the accompanyingdrawings to be used for describing the embodiments are introducedbriefly in the following. It is apparent that the accompanying drawingsin the following description are only some embodiments of the presentdisclosure. Persons of ordinary skill in the art can obtain otheraccompanying drawings in accordance with the accompanying drawingswithout any creative efforts.

FIG. 1A is a structural diagram of an image data processing systemaccording to an embodiment of the present disclosure.

FIG. 1B is a structural diagram of a smart device according to anembodiment of the present disclosure.

FIG. 1C is a diagram showing a process for obtaining image data orobtaining video data according to an embodiment of the presentdisclosure.

FIG. 1D is a diagram showing a process for obtaining image dataaccording to another embodiment of the present disclosure.

FIG. 1E is a diagram showing a process for obtaining video dataaccording to another embodiment of the present disclosure.

FIG. 1F is a structural diagram of an electronic image stabilization(EIS) system according to an embodiment of the present disclosure.

FIG. 1G is a diagram of image data obtained by an imaging deviceaccording to an embodiment of the present disclosure.

FIG. 1H is a diagram of image data in a correction process according toan embodiment of the present disclosure.

FIG. 1I is a diagram of processed image data according to an embodimentof the present disclosure.

FIG. 2 is a flowchart of an image data processing method according to anembodiment of the present disclosure.

FIG. 3 is a flowchart of an image data processing method according toanother embodiment of the present disclosure.

FIG. 4 is a flowchart of an image data processing method according toanother embodiment of the present disclosure.

FIG. 5 is a structural diagram of a smart device according to anembodiment of the present disclosure.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Technical solutions of the present disclosure will be described indetail with reference to the drawings. It will be appreciated that thedescribed embodiments represent some, rather than all, of theembodiments of the present disclosure. Other embodiments conceived orderived by those having ordinary skills in the art based on thedescribed embodiments without inventive efforts should fall within thescope of the present disclosure.

The present disclosure provides an image data processing method, device,and apparatus, which can select an image stabilization strategy based onthe flight state of the aircraft, thereby improving the quality of theobtained image data.

For better understanding of the image data processing method, device,platform, and storage medium provided by the embodiments of the presentdisclosure, an image data processing system of the embodiment of thepresent disclosure will be described below.

FIG. 1A is a structural diagram of an image data processing systemaccording to an embodiment of the present disclosure. The image dataprocessing system includes a smart device 101, an unmanned aerialvehicle (UAV) 102, and an imaging device 103 carried by the UAV.

The UAV 102 may include a UAV body. The UAV body can be equipped with agimbal or another mounting device. The imaging device 103 (such as amain camera, a monocular camera, a binocular camera, etc.) can becarried by the gimbal or another mounting device for obtaining videodata or image data during the flight of the UAV 102. The UAV 102 mayalso include a positioning sensor (such as a global positioning system(GPS) sensor), a barometer, an electronic compass, a compass, etc.,which is not limited in the embodiments of the present disclosure.

The UAV 102 and the smart device 101 may communicate via a network(e.g., a wireless connection). The wireless connection may be, forexample, a cellular mobile data network, a wireless fidelity (Wi-Fi), aninfrared, a Bluetooth, etc. which is not limited in the embodiments ofthe present disclosure.

The smart device 101 can be stationary or mobile. The smart device 101may have a remote control function, and may send an instruction to theimaging device 103 or the UAV. For example, the smart device 101 maysend an instruction to the UAV to instruct the UAV to return flightattitude data.

In some embodiments, the smart device 101 may be the imaging device 103,or the smart device 101 may be another terminal, which is not limited inthe present disclosure.

It should be noted that FIG. 1 includes a UAV drawn by dotted lines anda UAV drawn by solid lines to indicate that the UAV is in flight. Thatis, the image data is obtained during the flight of the UAV.

The image data processing system can be used to implement the image dataprocessing method provided by the embodiments of the present disclosure.More specifically, the smart device 101 may select different imageprocessing strategies based on the flight state of the UAV 102. If theflight state of the aircraft is in a low speed mode, the smart device101 may select an image stabilization strategy, such as an electronicimage stabilization (EIS) strategy. If the flight state of the aircraftis in a high speed mode and the active imaging mode of the imaging modedevice 103 is a video imaging mode, the smart device 101 may select animage cropping strategy, and process the image data obtained by theimaging device based on the selected image processing strategy to obtainthe processed image data.

FIG. 1B is a structural diagram of a smart device according to anembodiment of the present disclosure. The smart device may be an imagingdevice carried by the UAV. The smart device includes a determinationmodule 101, an image sensor 102, a sampling module 103, an EIS module104, an encoding module 105, and a cropping module 106. The smart devicecan be used to implement the image data processing method provided bythe embodiments of the present disclosure.

In some embodiments, the smart device can also perform samplingprocessing, cropping processing, or encoding processing on the obtainedimage data. The method provided by the embodiments of the presentdisclosure can be used not only to stabilize image data, but also videodata. In particular, for the implementation of the stabilizationprocessing of the video data, reference may be made to theimplementation of the stabilization processing of the image dataprovided in the embodiments of the present disclosure, and details willnot be repeated here.

In some embodiments, if it is determined that the flight state of theUAV is in the low speed mode state and the imaging device has started animaging preview mode, the smart device may use a first processing mannerto obtain image data. FIG. 1C is a diagram showing the process of thesmart device obtaining the image data by using the first processingmanner. In particular, if the determination module 101 determines thatthe flight state of the UAV is in the low speed mode state and theimaging device has started an image acquisition mode, the image sensor102 may use a first field of view parameter to obtain image data. Theimage data may be sent to the sampling module 103, and the samplingmodule 103 may perform sampling processing on the image data by using afirst sampling rule, and send the sampled image data to the EIS module104. The EIS module 104 may process the sampled image data based on theelectronic image stabilization strategy, and send the processed imagedata to the encoding module 105. The encoding module 105 may encode theprocessed image data to obtain the needed image data. As such, thesituation of distorted image data due to hovering or slow flight of theUAV may be avoided, thereby improving the quality of the image data.

In some embodiments, if it is determined that the flight state of theUAV is in the low speed mode state and the imaging device has started avideo capturing mode, the smart device may use a second processingmanner to obtain video data. FIG. 1C also shows the process of the smartdevice obtaining the video data by using the second processing manner isshown in FIG. 1C. In particular, if the determination module 101determines that the flight state of the UAV is in the low speed modestate and the imaging has started a video acquisition mode, the imagesensor 102 may use the second field of view parameter to obtain videodata. The video data may be sent to the sampling module 103, and thesampling module 103 may perform sampling processing on the video data byusing a second sampling rule, and send the sampled video data to the EISmodule 104. The EIS module 104 may process the sampled video data basedon the electronic image stabilization strategy, and send the processedvideo data to the encoding module 105. The encoding module 105 mayencode the processed video data to obtain the needed video data. Assuch, the situation of jittered video in the video data image data dueto hovering or slow flight of the UAV may be avoided, thereby improvingthe quality of the video data.

In some embodiments, if it is determined that the flight state of theUAV is in the high speed mode state and the imaging device has startedthe imaging preview mode, the smart device may use a third processingmanner to obtain image data. The diagram of the process of the smartdevice obtaining the image data by using the third processing manner isshown in FIG. 1D. In particular, if the determination module 101determines that the flight state of the UAV is in the high speed modestate and the imaging has started the image acquisition mode, the imagesensor 102 may use a third field of view parameter to obtain image data.The image data may be sent to the sampling module 103, and the samplingmodule 103 may perform sampling processing on the image data by using athird sampling rule, and send the sampled image data to the encodingmodule 105. The encoding module 105 may encode the sampled image data toobtain the needed image data. As such, the most real image data can besend to the user during the fast flight of the UAV, which can avoid thelarge-scale correction of the image data that results in low pixelutilization of the image data, thereby improving the quality of theimage data.

In some embodiments, if it is determined that the flight state of theUAV is in the high speed mode state and the imaging device has startedthe video capturing mode, the smart device may use a fourth processingmanner to obtain image data. The diagram of the process of the smartdevice obtaining the video data by using the fourth processing manner isshown in FIG. 1E. In particular, if the determination module 101determines that the flight state of the UAV is in the high speed modestate and the imaging has started the video acquisition mode, the imagesensor 102 may use a fourth field of view parameter to obtain videodata. The video data may be sent to the sampling module 103, and thesampling module 103 may perform sampling processing on the image data byusing a fourth sampling rule, and send the sampled image data to thecropping module 106. The cropping module 106 may perform croppingprocessing on the sampled video data, and send the cropped video data tothe encoding module 105. The encoding module 105 may encode the croppedvideo data to obtain the needed video data. As such, the most real imagedata can be send to the user during the fast flight of the UAV, whichcan avoid the large-scale correction of the image data that results inlow pixel utilization of the image data, thereby improving the qualityof the image data.

In some embodiments, the flight state being in the high speed modedescribed above may be that the flight speed of the UAV is greater thanor equal to a predetermined speed threshold. In addition, the flightstate being in the low speed mode described above may be that the flightspeed of the UAV is less than a predetermined speed threshold.

The field of view of the imaging device can be set based on the flightstability of the UAV. For example, if the stability of the UAV is high,a smaller field of view can be set; if the stability of the UAV is low,a larger field of view can be set. Further, the field of view of theimaging device can be set based on the size of the imaging area (orsubject). For example, if the imaging area is relatively large, a largerfield of view can be set; if the imaging area is relatively small, asmaller field of view can be set. In addition, the field of view of theimaging device can be set based on the imaging mode, or it can be setmanually by the user, which is not limited in the embodiments of thepresent disclosure.

In some embodiments, the smart device can set the first field of view toDFOV=67.6°, HFOV=56.4°, VFOV=43.8°; the smart device can set the secondfield of view to DFOV=57.3°, HFOV=50.9°, VFOV=30.0°; the smart devicecan set the third field of view to DFOV=67.6°, HFOV=56.4°, VFOV=43.8°;and the smart device can set the fourth field of view to DFOV=78.7°,HFOV=71.1°, VFOV=43.8°, where DFOV is a diagonal field of view, HFOV isa horizontal field of view, and VFOV is a vertical field of view.

In some embodiments, the specific method for the EIS module 104 toprocess the sampled image data based on the electronic imagestabilization strategy may include determining flight attitudeinformation of the UAV based on an angular velocity obtained by theUAV's inertial measurement unit (IMU), determining attitude measurementdata of the imaging device based on the flight attitude information ofthe UAV, calculating an amount of attitude correction based on theattitude measurement data of the imaging device and a target attitudedata of the imaging device, and processing the sampled image data basedon the attitude correction amount to obtain the processed image data.

In some embodiments, the attitude correction amount may include a firstcorrection amount, a second correction amount, and a third correctionamount. The first correction amount may be a correction amountcorresponding to a pitch attitude angle, the second correction amountmay be a correction amount corresponding to a roll attitude angle, andthe third correction amount may be a correction amount corresponding toa yaw attitude angle.

In some embodiments, since the flight speed of the UAV may changerelatively quick, to improve the quality of the image, the size of thefirst correction amount, the second correction amount, and thecorrection amount can be limited. At the same time, since the threecorrection amounts are related and changes in the pitch attitude angleand the roll attitude angle have a greater impact on the image, thefirst correction amount and the second correction amount may bedetermined first. When there is a remaining amount of attitudecorrection, the third correction amount may be determined. That is, thefirst correction amount and the second correction amount may bedetermined based on the attitude measurement data and the targetattitude data. Subsequently, whether there is a remaining amount ofattitude correction may be detected based on the first correctionamount, the second correction amount, and the total correction amountset for the image data. If there is a remaining amount of attitudecorrection, the third correction amount may be determined based on theremaining amount of attitude correction. Therefore, the quality of theimage stabilization process can be improved.

FIG. 1F is a structural diagram of an EIS system according to anembodiment of the present disclosure. The EIS system includes aninertial measurement unit (IMU) 107, an image sensor 108, a flightattitude controller 109, an image signal processor (ISP) 110, aprocessing unit 111, and an output unit 112. The EIS system can beapplied to the processing of the obtained image data by using electronicimage stabilization.

More specifically, the imaging device may be a device that performsexposure imaging in units of pixel rows. The flight attitude controller109 may be configured to obtain the current flight attitude of the UAV,and determine the flight state of the UAV based on the current flightattitude. If the flight state of the UAV is in the low speed mode, theIMU 107 may be configured to obtain the angular velocity of the UAV andsend the angular velocity of the UAV to the processing unit 111. Theprocessing unit 111 may be configured to perform integral calculation onthe received angular velocity of the UAV to obtain the current flightinformation of the UAV, filter the flight attitude data in the currentattitude information of the UAV to obtain the target attitude data ofthe imaging device, and determine the attitude measurement data of theimaging device based on the current attitude information of the UAV. Theimage sensor 108 may be configured to obtain images during the flight ofthe UAV, obtain the image data, record the exposure parameters of theimage data, and send the image data and the exposure parameters to theimage signal processor 110. The image signal processor 110 may beconfigured to perform sampling processing on the image data, and sendthe sampled image data and exposure parameters to the processing unit111. The processing unit 111 may be further configured to align withlines of the processed image data by using the time stamp of theattitude measurement data of the imaging device, the exposureparameters, the attitude measurement data, and the target attitude data.As such, each frame of the image data may have corresponding targetattitude data of the imaging device, and each line of each frame ofimage data may have corresponding attitude measurement data. When theUAV is in different flight states, the difference between the attitudemeasurement data of the imaging device and the target attitude data maybe different. The EIS system may determine the amount of correctionneeded to correct the image data based on the difference between theattitude measurement data of the imaging device and the target attitudedata, correct the image data based on the determined amount ofcorrection to obtain the image data obtained by the imaging device afterthe stabilization process, and send the obtained image data to theoutput unit 112. The output unit 112 may be configured to store or sendthe image data after the stabilization process to other devices. Assuch, the situation of distorted image data due to hovering or slowflight of the UAV may be avoided, thereby improving the quality of theimage data.

In some embodiments, the exposure parameters may include the number ofexposure lines of the obtained image data and the exposure duration ofeach line of the image data. For example, if the number of exposurelines of the image data is 3000 lines, and the exposure duration of eachline of the image data is 0.01 ms, the total exposure time of one frameof image data may be 30 ms based on the number of exposure lines and theexposure duration of each line of the image data. If the frequency ofthe IMU outputting the angular velocity of the UAV is 1 kHz, theacquisition frequency of the attitude measurement data of the imagingdevice is also 1 kHz, 30 pieces of attitude measurement datacorresponding to one frame of image data may be calculated. That is, 100consecutive lines of image data may correspond to piece of attitudemeasurement data.

FIG. 1G shows example image data obtained by the imaging device. If theimaging device is a device that performs exposure imaging in units ofpixel rows, the attitude measurement data corresponding to each line ofimage data may be calculated by the exposure parameters and the attitudemeasurement data of the imaging device. As shown in FIG. 1H, theattitude measurement data corresponding to the first line of the imagedata is A, the attitude measurement data corresponding to the secondline of the image data is B, the attitude measurement data correspondingto the third line of the image data is C, and the other rows may alsohave corresponding attitude measurement data, which will not be repeatedhere. The smart device may determine the first correction amount and thesecond correction amount based on the attitude measurement data and thetarget attitude data, and detect whether there is a remaining amount ofattitude correction based on the first correction amount, the secondcorrection amount, and the total correction amount set for the imagedata. When there is a remaining amount of attitude correction, the thirdcorrection amount may be determined based on the remaining amount ofattitude correction. As shown in FIG. 1H, the target image area isobtained by moving the specified area (the area of interest to the user,as shown in the white rectangular frame in FIG. 1H) in the image data upor down using the first correction amount, is rotating the specifiedarea in the image data using the second correction amount, and movingthe specified area in the image data left or right using the thirdcorrection amount. The target image area is processed (such as encoding)to obtain the processed image data. The processed image data is shown inFIG. 1I.

FIG. 2 shows an image data processing method according to an embodimentof the present disclosure. The image data processing method can beapplied to an image data processing system. The image data processingsystem may include a UAV, an imaging device carried by the UAV, and asmart device. The smart device may be the imaging device, or one or moreof the terminals that control the UAV, such as a remote control, asmartphone, a tablet computer, a laptop computer, and a ground station.The image data processing method will be described in detail below.

S201, obtaining the flight state information of the UAV.

In some embodiments, the smart device may obtain the flight stateinformation of the UAV through the IMU of the UAV, and the flight stateinformation may include flight speed or flight attitude information.

S202, selecting a target image processing strategy from a plurality ofimage processing strategies based on the flight state information, theplurality of image processing strategies include an image stabilizationstrategy.

In some embodiments, the smart device can select the target imageprocessing strategy from a plurality of image processing strategiesbased on the flight state information. The plurality of image processingstrategies include an image stabilization strategy. The plurality ofimage processing strategies may also include an image cropping strategyand the like.

The image stabilization strategy may also include an image stabilizationstrategy by adjusting the attitude of the gimbal, or an electronic imagestabilization strategy. The smart device may dynamically select imagestabilization strategy as needed, or dynamically select the imagestabilization strategy based on the application scenario. For example,in an application scenario where the gimbal is not disposed at the UAV,the smart device may select the electronic image stabilization strategyto process the image data. In some embodiments, the smart device maydynamically select the image stabilization strategy based on thestabilization effect of each image stabilization strategy or the userneeds.

In some embodiments, the flight state information may include attitudeinformation. The specific implementation method of selecting the targetimage processing strategy from a plurality of image processingstrategies based on the flight state information may include determininga flight attitude angle of the UAV based on the attitude information ofthe UAV; selecting the image stabilization strategy as the target imageprocessing strategy in response to the flight attitude angle being lessthan a predetermined attitude angle; or, selecting the image croppingstrategy as the target image processing strategy in response to theflight attitude angle being greater than or equal to the predeterminedattitude angle and detecting the imaging mode initiated by the imagingdevice is a video capturing mode.

The smart device may determine the flight attitude angle of the UAVbased on the attitude information of the UAV. If the flight attitudeangle is less than the predetermined attitude angle, the flight state ofthe UAV may be determined to be in the low speed mode. The imagestabilization strategy may be selected as the target image processingstrategy, which can avoid the situation of distorted image data due tohovering or slow flight of the UAV, thereby improving the quality of theimage data. If the flight attitude angle is greater than or equal to thepredetermined attitude angle, the flight state of the UAV may bedetermined to be in the high speed mode. The image cropping strategy maybe selected as the target image processing strategy. As such, the mostreal image data can be sent to the user during the fast flight of theUAV, which can avoid the large-scale correction of the image data thatresults in low pixel utilization of the image data, thereby improvingthe quality of the image data.

In some embodiments, the predetermined attitude angle may be 15°. If theattitude angle of the UAV is 8°, the smart may determine that the flightattitude angle is less than the predetermined attitude angle, determinethat the flight state of the UAV is in the low speed mode, and selectthe image stabilization strategy as the target image processingstrategy. If the attitude angle of the UAV is 16°, the smart maydetermine that the flight attitude angle is greater than or equal to thepredetermined attitude angle, determine that the flight state of the UAVis in the high speed mode, detect that the imaging mode initiated by theimaging device is the video capturing mode, and select the imagecropping strategy as the target image processing strategy

The predetermined attitude angle described above may be set to 9°. Inaddition, if the attitude angle of the UAV is greater than 9°, theflight state of the UAV may be determined to be the in high speed mode;and, if the attitude angle of the UAV is less than 9°, the flight stateof the UAV may be determined to be in the low speed mode.

In some embodiments, if the flight attitude angle is greater than orequal to the predetermined attitude angle, the smart device may samplethe obtained image data to obtain the processed image data. As such, themost real image data can be send to the user, which can avoid thelarge-scale correction of the image data that results in low pixelutilization of the image data, thereby improving the quality of thevideo data.

In some embodiments, the flight state information may include the flightspeed. The specific implementation method of selecting the target imageprocessing strategy from a plurality of image processing strategiesbased on the flight state information may include selecting the imagestabilization strategy as the target image processing strategy inresponse to the flight speed of the UAV being less than a predeterminedspeed threshold; or, selecting the image cropping strategy as the targetimage processing strategy in response to the flight speed of the UAVbeing greater than or equal to the predetermined speed threshold.

If the flight speed of the UAV is less than the predetermined speedthreshold, the smart device may determine that the flight state of theUAV is in the low speed mode. The image stabilization strategy may beselected as the target image processing strategy, which can avoid thesituation of distorted image data due to hovering or slow flight of theUAV, thereby improving the quality of the image data. If the flightspeed of the UAV is greater than or equal to the predetermined speedthreshold, the smart device may determine that the flight state of theUAV is in the high speed mode. The image cropping strategy may beselected as the target image processing strategy. As such, the most realimage data can be send to the user during the fast flight of the UAV,which can avoid the large-scale correction of the video data thatresults in low pixel utilization of the image data, thereby improvingthe quality of the video data.

In some embodiments, obtaining the imaging mode initiated by the imagingdevice may include selecting the target image processing strategy fromthe plurality of image processing strategies based on the flight stateinformation and the imaging mode.

The smart device may select the target image processing strategy fromthe plurality of image processing strategies based on the flight stateinformation and the imaging mode. That is, if the flight state of theUAV is in the low speed mode and the imaging mode of the imaging deviceis in the video capturing mode or the preview mode, the imagestabilization strategy may be selected as the target image processingstrategy. Further, if the flight state of the UAV is in the high speedmode and the imaging mode of the imaging device is in the videocapturing mode, the image cropping strategy may be selected as thetarget image processing strategy. Furthermore, if the flight state ofthe UAV is in the high speed mode and the imaging mode of the imagingdevice is in the imaging preview mode, the image data may not beprocessed to provide the most real image data to the user. As such,different image data processing strategies may be selected based on theflight state and imaging mode of the imaging device to meet various userneeds for the image data.

S203, processing the image data obtained by the imaging device carriedby the UAV based on the target image processing strategy to obtain theprocessed image data.

In some embodiments, the smart device may process the image dataobtained by the imaging device carried by the UAV based on the targetimage processing strategy to obtain the processed image data, which canimprove the quality of the image data.

In some embodiments, the before performing S203, the smart device mayfurther include setting a field of view of the imaging device based onthe selected target image processing strategy, and obtaining the imagedata through the imaging device with the set field of view.

Since the size of the processed image data obtained different image datastrategies may be different, in order for the smart device to obtainuseful information from the obtained image data processed by the imageprocessing strategy, the smart device may set the field of view of theimaging device based on the selected target image processing strategy,such that the quality of the obtained image data can be improved.

If the selected image processing strategy is an image stabilizationstrategy, since the amount of correction of the image stabilizationstrategy is relative small, a larger field of view may be set for theimaging device. If the selected image processing strategy is an imagecropping strategy, a larger field of view may be set for the imagingdevice, such that useful information (i.e., video data that is ofinterest to the user) may be obtained from the cropped image data.

In some embodiments, the method may further include setting the field ofview of the imaging device based on the selected target image processingstrategy and the imaging mode initiated by the imaging device; andobtaining image data by using the imaging device with the set field ofview.

Since the size of the processed image data obtained different image datastrategies may be different, and users may have different needs for thequality of the image data in different imaging modes, the field of viewof the imaging device may be set based on the selected target imageprocessing strategy and the imaging mode initiated by the imagingdevice. As such, not only useful information can be obtained from theimage data processed by the image processing strategy, different qualityneeds of the users can also be met.

In some embodiments, when the UAV is in the low speed mode or the highspeed mode, and the imaging mode of the imaging device is in the imagingpreview mode, the field of view of the imaging device may be set toDFOV=67.6°, HFOV=56.4°, VFOV=43.8°. When the UAV is in the low speedmode, and the imaging mode of the imaging device is in the videocapturing mode, field of view of the imaging device may be set toDFOV=57.3°, HFOV=50.9°, VFOV=30.0°. When the UAV is in the high speedmode, and the imaging mode of the imaging device is in the videocapturing mode, field of view of the imaging device may be set toDFOV=78.7°, HFOV=71.1°, VFOV=43.8°. When the imaging mode of the imagingdevice is in the image acquisition mode, the field of view of theimaging device may be set to DFOV=84.3°, HFOV=71.8°, VFOV=57.0°.

In some embodiments, the imaging mode may include one or more of animaging preview mode, an image acquisition mode, and a video capturingmode. The imaging preview mode, the image acquisition mode, and thevideo capturing mode may correspond to different field of views of theimaging device.

In some embodiments, the plurality of image processing strategies mayinclude an image cropping strategy. The specific implementation methodfor processing the image data obtained by the imaging device carried bythe UAV based on the target image processing strategy may includeperforming electronic stabilization processing on the image dataobtained by the imaging device based on the image stabilization strategyin response to the target image processing strategy being the imagestabilization strategy; or performing cropping processing on the imagedata obtained by the imaging device based on the image cropping strategyin response to the target image processing strategy being the imagecropping strategy.

When the smart device selects the image stabilization strategy as thetarget image processing strategy, the smart device may performelectronic stabilization processing on the image data obtained by theimaging device based on the image stabilization strategy. As such, thesituation of distorted image data due to movement in flight can beavoided, thereby improving the quality of the image data. When the smartdevice selects the image cropping strategy as the target imageprocessing strategy, the smart device may perform the croppingprocessing on the image data obtained by the imaging device based on theimage cropping strategy. As such, the most real image data can be sendto the user, which can avoid the large-scale correction of the videodata that results in low pixel utilization of the image data, therebyimproving the quality of the video data.

It should be noted that if the target image processing strategy selectedby the smart device is an image cropping strategy, the smart device mayperform the cropping processing on the image data based on apredetermined cropping ratio. For example, the image data may be croppedat a 1:1 ratio, that is, the entire image may be cropped; or the imagedata may be cropped at a 4:3 ratio, that is, three-quarters of the imagearea of the image data may be cropped.

In some embodiments, if the obtained image data is video data, croppingthe video data may include cropping each frame of the video data orcertain frames of the image data. That is, cropping the image data withjitter in the video image of the video data.

In the embodiments of the present disclosure, a smart device mayadaptively select an image data processing strategy based on the flightstate of the UAV, and process image data based on the selected imagedata processing strategy to improve the quality of the image data. Ifthe selected image data processing strategy is the image stabilizationstrategy, the image stabilization strategy can be used to process theimage data, which can avoid the situation of distorted image data due tohovering or slow flight of the UAV, thereby improving the quality of theimage data. If the selected image data processing strategy is a strategy(e.g., an image cropping strategy) other than the image stabilizationstrategy, the selected image data processing strategy can be used toprocess the image data. As such, the most real image data can be send tothe user, which can avoid the large-scale correction of the image datathat results in low pixel utilization of the image data, therebyimproving the quality of the video data and is more in line with user'squality needs of the image data.

FIG. 3 shows another image data processing method according to anembodiment of the present disclosure. The image data processing methodcan be applied to an image data processing system. The image dataprocessing system may include a UAV, an imaging device carried by theUAV, and a smart device. The smart device may be the imaging device, orone or more of the terminals that control the UAV, such as a remotecontrol, a smartphone, a tablet computer, a laptop computer, and aground station. The image data processing method will be described indetail below.

S301, obtaining the flight state information of the UAV.

In some embodiments, the smart device may obtain the flight stateinformation through a sensor of the UAV, the flight state informationmay include the flight speed.

S302, determining whether the flight speed included in the flight stateinformation of the UAV is less than the predetermined speed threshold,if yes, perform S303, otherwise, perform S304.

The smart device may determine whether the flight speed of the UAV isgreater than the predetermined speed threshold. If the flight speed ofthe UAV is less than the predetermined speed threshold, the flight stateof the UAV may be determined to be in the low speed mode and S303 may beperformed. Otherwise, the flight state of the UAV may be determined tobe in the high speed mode and S304 may be performed

S303, selecting the image stabilization strategy as the target imageprocessing strategy in response to the flight speed of the UAV beingless than the predetermined speed threshold.

If the flight speed of the UAV is less than the predetermined speedthreshold, the smart device may determine that the flight state of theUAV is in the low speed mode. As such, the image stabilization strategycan be selected as the target image processing strategy, such that thesituation of distorted image data due to hovering or slow flight of theUAV, thereby improving the quality of the image data.

S304, selecting the image cropping strategy as the target imageprocessing strategy in response to the flight speed of the UAV beinggreater than or equal to the predetermined speed threshold.

If the flight speed of the UAV is greater than or equal to thepredetermined speed threshold, the smart device may determine that theflight state of the UAV is in the high speed mode. As such, the imagecropping strategy can be selected as the target image processingstrategy, such that the most real image data can be send to the user,which can avoid the large-scale correction of the video data thatresults in low pixel utilization of the image data, thereby improvingthe quality of the video data.

If the flight state of the UAV is in the high speed mode, correcting theobtained image data may greatly reduce the pixel utilization of theimage data. Therefore, when the flight state of the UAV is in the highspeed mode, the image data may be cropped or sampled without thecorrection processing.

In some embodiments, if the flight speed of the UAV is greater than orequal to the predetermined speed threshold, and it is detected that theimaging mode initiated by the imaging device is the imaging previewmode, the smart device may perform sampling processing on the obtainedimage data to obtain the processed image data. As such, the most realimage data can be send to the user, which can avoid the large-scalecorrection of the image that results in low pixel utilization of theimage data, thereby improving the quality of the video data.

S305, processing the image data obtained by the imaging device carriedby the UAV based on the target image processing strategy to obtain theprocessed image data.

In some embodiments, if the target image processing strategy is theimage stabilization strategy, the specific implementation of theprocessing of the image data obtained by the imaging device carried bythe UAV based on the target image processing strategy may includeobtaining reference data, the reference data may include image dataobtained by the imaging device and the attitude measurement data of theimaging device during the flight of the UAV; and determining the targetimage are from the image data and processing the target image area basedon the attitude measurement data and the target attitude data set forthe imaging device to obtain the processed image data.

The smart device may determine the attitude measurement data of theimaging device through the flight attitude information of the UAV,obtain the image data obtained by the imaging device, determine thetarget image area from the image data based on the attitude measurementdata and the target attitude data set for the imaging device, andprocess the target image area to obtain the processed image data. Thetarget attitude data may be attitude data of the imaging device when thequality of the obtained image data is high. As such, based on the targetattitude data and the attitude measurement data, the image data can bestabilized to obtain image data with better quality.

In some embodiments, the specific implementation method for determiningthe target image area from the image data based on the attitudemeasurement data and the target attitude data set for the imaging devicemay include calculating an attitude correction amount based on theattitude measurement data and the target attitude data set for theimaging device, and determining the target image area from the imagedata based on the attitude correction amount.

The smart device may determine the difference between the attitude databased on the attitude measurement data and the target attitude data setfor the imaging device, calculate the attitude correction amount basedon the difference of the attitude data, and determine the target imagearea from the image data based on the attitude correction amount. Assuch, image data with higher quality may be obtained.

In some embodiments, the imaging device may be a device that performsexposure imaging in units of pixel rows. The attitude measurement dataof the imaging device may include attitude measurement data of theimaging device when each row of the image data is obtained. The specificimplementation method for calculating the attitude correction amountbased on the attitude measurement data and the target attitude data ofthe imaging device may include calculating the attitude correctionamount based on the attitude measurement data corresponding to each rowof the image data and the target attitude data.

If the imaging device is a device that performs exposure imaging inunits of pixel rows, each row of the image data of the obtained imagedata may have corresponding measurement data. The smart device maycalculate the attitude correction amount based on the attitudemeasurement data corresponding to each row of the image data and thetarget attitude data, thereby improving the correction accuracy of theimage data.

The attitude correction amount may include a first correction amount, asecond correction amount, or a third correction amount for processingthe image data. The first correction amount may be a correction amountcorresponding to a pitch attitude angle, the second correction amountmay be a correction amount corresponding to a roll attitude angle, andthe third correction amount may be a correction amount corresponding toa yaw attitude angle.

In some embodiments, the specific implementation method for calculatingthe attitude correction amount based on the attitude measurement dataand the target attitude data of the imaging device may includedetermining the first correction amount and the second correction amountbased on the attitude measurement data and the target attitude data,detecting whether there is a remaining attitude correction amount basedon the first correction, the second correction amount, and the totalcorrection amount set of the image data, and determining the thirdcorrection amount based on the remaining attitude correction amount inresponse to detecting the remaining attitude correction amount.

Since the flight attitude of the UAV changes relative quick, in order toimprove the quality of the image, the first correction amount, thesecond correction amount, and the third correction amount may belimited. At the same time, since the three correction amounts arerelative, changes in the pitch attitude angle and the roll attitudeangle may have greater impact on the image. That is, the user'sperception of the changes in the pitch attitude angle and the rollattitude angle may be more obvious than the perception of changes in theyaw attitude angle. Therefore, the first correction amount and thesecond correction amount may be determined first, and when there is aremaining attitude correction amount, the third correction amount may bedetermined. That is, the first correction amount and the secondcorrection amount may be determined based on the attitude measurementdata and the target attitude data; whether there is a remaining attitudecorrection amount may be determined based on the first correctionamount, the second correction amount, and the total correction amountset for the image data; and the third correction amount may bedetermined based on the remaining attitude correction amount in responseto detecting the remaining attitude correction amount, thereby improvingthe quality of the image data stabilization process.

The smart device may determine the correction range of the attitudeangles of the imaging device based on the correction information of thehistorical attitude angle of the imaging device set in the UAV. That is,when the flight state of the UAV is in the low speed mode, the range ofthe attitude angle correction of the imaging device in different imagingmodes may be as shown in Table 1, where Max yaw may indicate the maximumcorrection amount of the yaw angle of the imaging device, Max pitch mayindicate the maximum correction amount of the pitch angle of the imagingdevice, and Max roll may indicate the maximum correction amount of theroll angle of the imaging device. The range of correction amount forcorrecting the image data may be determined based on the correctionrange of the attitude angles of the imaging device. In addition, thefirst correction amount, the second correction amount, and the thirdcorrection amount described above may not exceed the range of correctionamount set for the image data, which can avoid distortion of thecorrected image data.

TABLE 1 UAV Flight State Imaging Mode Max yaw Max pitch Max roll ImagingPreview 2°  5°  8° Low Speed Mode Video Capturing 3° 12° 32°

In some embodiments, the method may include obtaining the attitude dataof the imaging device during the process of obtaining the image data;filtering the attitude data of the imaging device; and obtaining thetarget attitude data of the imaging device based on the filteredattitude data, the target attitude data may be the attitude data of theimaging device when the obtained image data meets a predetermined imagequality condition.

The smart device may filter the attitude data of the imaging device.That is, to filter out the distorted attitude data in the attitude dataof the imaging device, such as relative high attitude data and relativelow attitude data. Relatively smooth attitude data may be obtained afterfiltering, and the target attitude data of the imaging device may beobtained based on the filtered attitude data, the target attitude datamay be the attitude data of the imaging device when the obtained imagedata meets the predetermined image quality condition. That is, thetarget attitude data may be the attitude data of the imaging device whenthe quality of the obtained image data is relative high. For example,the target attitude data may be the attitude data of the imaging devicewhen the obtained image data remains horizontally stable.

The smart device may set the roll attitude angle of the target attitudedata to 0° and the pitch attitude angle to 0°. The size of the yawattitude angle may be slightly adjusted based on the flight attitude ofthe UAV. For example, the adjusted degree may not be greater than apredetermined degree, where the predetermined degree may be 5°.

In some embodiments, the method may include receiving a settinginstruction of a target object, the setting instruction may includeattitude data of the imaging device; and using the attitude data of theimaging device included in the setting instruction as the targetattitude data of the imaging device.

The smart device may receive a setting instruction of a target object,the setting instruction may include attitude data of the imaging device,and the attitude data of the imaging device included in the settinginstruction may be used as the target attitude data of the imagingdevice. That is, the user may manually set the target attitude data ofthe imaging device.

In the embodiments of the present disclosure, if the flight speed of theUAV is less than the predetermined speed threshold, the smart device mayselect the image stabilization strategy as the target image processingstrategy. By using the image stabilization strategy to process the imagedata, the situation of distorted image data due to hovering or slowflight of the UAV may be avoided, thereby improving the quality of theimage data. In addition, if the flight speed of the UAV is greater thanor equal to the predetermined speed threshold, and it is detected thatthe imaging mode initiated by the imaging device is a video capturingmode, the smart device may select the image cropping strategy as thetarget image processing strategy. By using the image cropping strategyto process the image data, the most real image data can be send to theuser, which can avoid the large-scale correction of the image data thatresults in low pixel utilization of the image data, thereby improvingthe quality of the video data and is more in line with user's qualityneeds of the image data.

FIG. 4 shows another image data processing method according to anembodiment of the present disclosure. The image data processing methodcan be applied to an image data processing system. The image dataprocessing system may include a UAV, an imaging device carried by theUAV, and a smart device. The smart device may be the imaging device, orone or more of the terminals that control the UAV, such as a remotecontrol, a smartphone, a tablet computer, a laptop computer, and aground station. The image data processing method will be described indetail below.

S401, obtaining the flight state information of the UAV.

In some embodiments, the smart device may obtain the flight stateinformation of the UAV. The flight state information may include theattitude information, such that different image data processingstrategies can be selected based on the attitude angle of the UAV, andthe quality of the image data can be improved.

S402, determining the flight attitude angle of the UAV based on theattitude information of the UAV.

The smart device may determine the flight attitude angle of the UAVbased on the attitude information of the UAV. The flight attitude anglemay be an angle between the body coordinate system of the UAV and theground inertial coordinate system.

S403, determining whether the flight attitude angle of the UAV is lessthan a predetermined attitude angle, if yes, perform S404-S407,otherwise, perform S408-S409.

The smart device may determine whether the flight attitude angle of theUAV is less than the predetermined attitude angle. If the flightattitude angle of the UAV is less than the predetermined attitude angle,the flight state of the UAV may be determined to be in the low speedmode and S404-S407 may be performed. Otherwise, the flight state of theUAV may be determined to be in the high speed mode and S408-S409 may beperformed.

S404, selecting the image stabilization strategy as the target imageprocessing strategy in response to the flight attitude angle being lessthan the predetermined attitude angle.

If the flight attitude angle is less than the predetermined attitudeangle, the flight state of the UAV may be determined to be in the lowspeed mode, and the image stabilization strategy may be selected as thetarget image processing strategy. As such, the situation of distortedimage data due to hovering or slow flight of the UAV may be avoided,thereby improving the quality of the image data.

S405, obtaining the attitude information of the imaging device.

In some embodiments, since the imaging device is mounted at the gimbal,the attitude information of the imaging device may be determined basedon the attitude information of the UAV and the attitude information ofthe gimbal.

S406, adjusting the attitude of the gimbal carrying the imaging devicebased on the attitude information of the imaging device.

In some embodiments, the smart device may adjust the attitude of thegimbal carrying the imaging device based on the attitude information ofthe imaging device. As such, image data with high stability can beobtained, and the quality of the obtained image data can be improved.

S407, using the imaging device to obtain image data.

In some embodiments, after adjusting the attitude of the gimbal, thesmart device may use the imaging device to obtain image data.

S408, selecting the image cropping strategy as the target imageprocessing strategy in response to the flight attitude angle beinggreater than or equal to the predetermined attitude angle.

If the flight attitude angle is greater than or equal to thepredetermined attitude angle, and it is detected that the imaging modeinitiated by the imaging device is a video capturing mode, the flightstate of the UAV may be determined to be in the low speed mode, and theimage cropping strategy may be selected as the target image processingstrategy. As such, the most real image data can be send to the user,which can avoid the large-scale correction of the image that results inlow pixel utilization of the image data, thereby improving the qualityof the image data.

S409, cropping the image data obtained by the imaging device based onthe image cropping strategy.

The smart device may perform cropping processing on the image data inthe video data obtained by the imaging device based on the imagecropping strategy, such that useful image data can be obtained.

It should be noted that if the imaging device is rigidly fixed on theUAV, the attitude information of the imaging device may be determinedbased on the attitude information of the UAV. However, if the imagingdevice is mounted at the gimbal, the attitude information of the imagingdevice may be determined based on the attitude information of the UAVand the gimbal.

In the embodiments of the present disclosure, the smart device maydynamically select the image processing strategy based on the attitudeangle of the UAV. If the selected image processing strategy is an imagestabilization strategy, the attitude of the gimbal may be adjusted toobtain stable image data to improve the quality of the image data. Ifthe selected image processing strategy is an image cropping strategy,the image in the captured video data may be cropped to improve thequality of the obtained video data.

FIG. 5 is a structural diagram of a smart device according to anembodiment of the present disclosure. As shown in FIG. 5, the smartdevice includes at least one processor 501, such as a central processingunit (CPU); at least one memory 502, a communication device 503, asensor 504, and a controller 505. The processor 501, memory 502,communication device 503, sensor 504, and controller 505 are connectedvia a bus 506.

The communication device 503 may be configured to receive the flightstate information of the UAV, the image data obtained by the imagingdevice, etc. during the flight of the UAV.

The sensor 504 may be used to generate location information of the smartdevice.

The memory 502 may be used to store instructions, and the processor 501may be configured to call the program codes stored in the memory 502.

More specifically, the processor 501 may be configured to call theprogram codes stored in the memory 502 to obtain the flight stateinformation of the UAV; select a target image processing strategy from aplurality of image processing strategies based on the flight stateinformation, the plurality of image processing strategies include animage stabilization strategy; and process the image data obtained by theimaging device carried by the UAV based on the target image processingstrategy to obtain the processed image data.

In some embodiments, the processor 501 may be further configured to callthe program codes stored in the memory 502 to obtain an imaging mode ofthe imaging device; select a target image processing strategy from theplurality of image processing strategies based on the flight stateinformation and the imaging mode; and process the image data obtained bythe imaging device carried by the UAV based on the target imageprocessing strategy.

In some embodiments, the processor 501 may be further configured to callthe program codes stored in the memory 502 to perform an imagestabilization strategy on the image data obtained by the imaging devicebased on the image stabilization strategy in response to the targetimage processing strategy being the image stabilization strategy; or,perform cropping processing on the image data obtained by the imagingdevice based on the image cropping strategy in response to the targetimage processing strategy being the image cropping strategy.

In some embodiments, the processor 501 may be further configured to callthe program codes stored in the memory 502 to select the imagestabilization strategy as the target image processing strategy inresponse to the flight speed of the UAV being less than thepredetermined speed threshold; or, select the image cropping strategy asthe target image processing strategy in response to the flight speed ofthe UAV being greater than or equal to the predetermined speed thresholdand detecting that the imaging mode initiated by the imaging device is avideo capturing mode.

In some embodiments, the processor 501 may be further configured to callthe program codes stored in the memory 502 to determine the flightattitude angle of the UAV based on the attitude information of the UAV;select the image stabilization strategy as the target image processingstrategy in response to the flight attitude angle being less than thepredetermined attitude angle; or, select the image cropping strategy asthe target image processing strategy in response to the flight attitudeangle being greater than or equal to the predetermined flight attitudeangle and detecting that the imaging mode initiated by the imagingdevice is a video capturing mode.

In some embodiments, the processor 501 may be further configured to callthe program codes stored in the memory 502 to set a field of view of theimaging device based on the selected target image processing strategy;and obtain the image data by using the imaging device with the set fieldof view and process the image data obtained by the imaging devicecarried by the UAV based on the target image processing strategy.

In some embodiments, the processor 501 may be further configured to callthe program codes stored in the memory 502 to set the field of view ofthe imaging device based on the selected target image processingstrategy and the imaging mode initiated by the imaging device; andobtain the image data by using the imaging device with the set field ofview and process the image data obtained by the imaging device carriedby the UAV based on the target image processing strategy.

In some embodiments, the imaging mode may include one or more of animaging preview mode, an image acquisition mode, and a video capturingmode. The set field of views of the imaging device corresponding to theimaging preview mode, the image acquisition mode, and the videocapturing mode may be different.

In some embodiments, the processor 501 may be further configured to callthe program codes stored in the memory 502 to obtain reference data, thereference data may include image data obtained by the imaging device andthe attitude measurement data of the imaging device during the flight ofthe UAV; determine the target image are from the image data based on theattitude measurement data and the target attitude data of the imagingdevice; and process the target image area to obtain the processed imagedata.

In some embodiments, the processor 501 may be further configured to callthe program codes stored in the memory 502 to calculate an attitudecorrection amount based on the attitude measurement data and the targetattitude data of the imaging device; and determine the target image areafrom the image data based on the attitude correction amount.

In some embodiments, the processor 501 may be further configured to callthe program codes stored in the memory 502 to calculate the attitudecorrection amount based on the attitude measurement data correspondingto each row of image data and the target attitude data.

In some embodiments, the attitude correction amount may include a firstcorrection amount, a second correction amount, or a third correctionamount for processing the image data. The first correction amount may bea correction amount corresponding to a pitch attitude angle, the secondcorrection amount may be a correction amount corresponding to a rollattitude angle, and the third correction amount may be a correctionamount corresponding to a yaw attitude angle.

In some embodiments, the processor 501 may be further configured to callthe program codes stored in the memory 502 to determine the firstcorrection amount and the second correction amount based on the attitudemeasurement data and the target attitude data; detecting whether thereis a remaining attitude correction amount based on the first correctionamount, the second correction amount, and the total correction amountset for the imaging data; and determine the third correction amountbased on the remaining attitude correction amount in response todetecting there is a remaining attitude correction amount.

In some embodiments, the processor 501 may be further configured to callthe program codes stored in the memory 502 to obtain attitude data ofthe imaging device during the process of obtaining the image data;filter the attitude data of the imaging device; and obtain the targetattitude data of the imaging device based on the filtered attitude data,the target attitude data may be the attitude data of the imaging devicewhen the obtained image data meets the predetermined image qualitycondition.

In some embodiments, the processor 501 may be further configured to callthe program codes stored in the memory 502 to receive a settinginstruction of a target object, the setting instruction includesattitude data of the imaging device; and use the attitude data of theimaging device included in the setting instruction as the targetattitude data of the imaging device.

In some embodiments, the processor 501 may be further configured to callthe program codes stored in the memory 502 to obtain the attitudeinformation of the imaging device; adjust the attitude of the gimbalcarrying the imaging device based on the attitude information of theimaging device; and use the imaging device to obtain the image data.

The present disclosure further provides a mobile platform having a powersystem for providing power to the mobile platform. The mobile platformmay also include the smart device as shown in FIG. 5.

The present disclosure further provides a computer program productincluding a non-transitory computer-readable storage medium that storesa computer program. The computer program may be executed to cause thecomputer to perform the steps of the image data processing method in theembodiments corresponding to FIGS. 2A-4 described above. For theimplementation methods and advantages of the computer program product,reference may be made to the implementation methods and advantages ofthe image data processing method of FIGS. 2A-4, which will not berepeated here.

It should be noted that, for the sake of brief description, theforegoing method embodiments are represented as a series of actions.However, a person skilled in the art should appreciate that the presentdisclosure is not limited to the described order of the actions, becauseaccording to the present disclosure, some steps may be performed inother orders or simultaneously. It should be further appreciated by aperson skilled in the art that the embodiments described in thisspecification all belong to exemplary embodiments, and the involvedactions and modules are not necessarily required by the presentdisclosure.

A person of ordinary skill in the art may understand that, all or a partof the steps in each method of the foregoing embodiments may beimplemented by a program instructing related hardware (for example, aprocessor). The program may be stored in a computer readable storagemedium. The storage medium includes a flash disk, a read-only memory(ROM), a random memory (RAM), a programmable read-only memory (PROM), anerasable programmable read-only memory (EPROM), a one-time programmableread-only memory (OTPROM), an EEPROM, a compact disc read-only memory(CD-ROM), another optical disk memory, magnetic disk memory, or magnetictape memory, or any other computer-readable medium that can beconfigured to carry or store data.

Other embodiments of the disclosure will be apparent to those skilled inthe art from consideration of the specification and practice of theembodiments disclosed herein. It is intended that the specification andexamples be considered as exemplary only and not to limit the scope ofthe disclosure, with a true scope and spirit of the invention beingindicated by the following claims.

What is claimed is:
 1. An image data processing method comprising:obtaining flight state information of an unmanned aerial vehicle (UAV);selecting a target image processing strategy from a plurality of imageprocessing strategies based on the flight state information, theplurality of image processing strategies including an imagestabilization strategy; and processing image data obtained by an imagingdevice carried by the UAV based on the target image processing strategyto obtain processed image data.
 2. The method of claim 1, furthercomprising: obtaining an imaging mode initiated by the imaging device;wherein selecting the target image processing strategy includesselecting the target image processing strategy from the plurality ofimage processing strategies based on the flight state information andthe imaging mode.
 3. The method of claim 1, wherein the plurality ofimage processing strategies further include an image cropping strategy,and processing the image data based on the target image processingstrategy includes: in response to the target image processing strategybeing the image stabilization strategy, performing electronicstabilization on the image data based on the image stabilizationstrategy; or in response to the target image processing strategy beingthe image cropping strategy, performing cropping processing on the imagedata based on the image cropping strategy.
 4. The method of claim 3,wherein the flight state information includes a flight speed, andselecting the target image processing strategy includes: selecting theimage stabilization strategy as the target image processing strategy inresponse to the flight speed of the UAV being less than a predeterminedspeed threshold; or selecting the image cropping strategy as the targetimage processing strategy in response to the flight speed of the UAVbeing greater than or equal to the predetermined speed threshold.
 5. Themethod of claim 3, wherein the flight state information includesattitude information, and selecting the target image processing strategyincludes: determining a flight attitude angle of the UAV based on theattitude information of the UAV; and selecting the target imageprocessing strategy based on the flight attitude angle, including:selecting the image stabilization strategy as the target imageprocessing strategy in response to the flight attitude angle being lessthan a predetermined attitude angle; or selecting the image croppingstrategy as the target image processing strategy in response to theflight attitude angle being greater than or equal to the predeterminedattitude angle.
 6. The method of claim 1, further comprising: setting afield of view for the imaging device based on the target imageprocessing strategy; and obtaining the image data through the imagingdevice with the set field of view.
 7. The method of claim 1, furthercomprising: setting a field of view for the imaging device based on thetarget image processing strategy and an imaging mode initiated by theimaging device, the imaging mode including one or more of an imagingpreview mode, an image acquisition mode, and a video capturing modecorresponding to different fields of view of the imaging device; andobtaining the image data through the imaging device with the set fieldof view.
 8. The method of claim 1, wherein: selecting the target imageprocessing strategy includes selecting the image stabilization strategyas the target image processing strategy; and processing the image dataincludes: obtaining attitude measurement data of the imaging device whencapturing the image data during flight of the UAV; determining a targetimage area from the image data based on the attitude measurement dataand target attitude data of the imaging device; and processing thetarget image area to obtained the processed image data.
 9. The method ofclaim 8, wherein determining the target image area includes: calculatingan attitude correction amount based on the attitude measurement data andthe target attitude data; and determining the target image area from theimage data based on the attitude correction amount.
 10. The method ofclaim 9, wherein: the image device is configured to perform exposureimaging in units of pixel rows; the attitude measurement data includesattitude measurement data of the imaging device when obtaining variousrows of the image data; and calculating the attitude correction amountincludes calculating the attitude correction amount based on theattitude measurement data corresponding to the various rows of the imagedata and the target attitude data.
 11. The method of claim 9, whereinthe attitude correction amount includes at least one of: a firstcorrection amount corresponding to a pitch attitude angle, a secondcorrection amount corresponding to a roll attitude angle, or a thirdcorrection amount corresponding to a yaw attitude angle.
 12. The methodof claim 11, wherein calculating the attitude correction amountincludes: determining the first correction amount and the secondcorrection amount based on the attitude measurement data and the targetattitude data; detecting whether there is a remaining attitudecorrection amount based on the first correction amount, the secondcorrection amount, and a total correction amount set for the image data;and determining the third correction amount based on the remainingattitude correction amount in response to detecting there is theremaining attitude correction amount.
 13. The method of claim 8, furthercomprising: obtaining attitude data of the imaging device during theprocess of obtaining the image data; and filtering the attitude data ofthe imaging device to obtain the target attitude data of the imagingdevice, the target attitude data being attitude data of the imagingdevice that allows the imaging device to obtain image data meeting apredetermined image quality condition.
 14. The method of claim 8,further comprising: receiving a setting instruction for a target object,the setting instruction including attitude data of the imaging device;and using the attitude data of the imaging device included in thesetting instruction as the target attitude data of the imaging device.15. The method of claim 1, wherein: selecting the target imageprocessing strategy includes selecting the image stabilization strategyas the target image processing strategy; and processing the image dataincludes: obtaining attitude information of the imaging device;adjusting an attitude of a gimbal carrying the imaging device based onthe attitude information of the imaging device; and obtaining the imagedata through the imaging device.
 16. A smart device comprising: aprocessor; and a memory storing program instructions that, when executedby the processor, cause the processor to: obtain flight stateinformation of an unmanned aerial vehicle (UAV); select a target imageprocessing strategy from a plurality of image processing strategiesbased on the flight state information, the plurality of image processingstrategies including an image stabilization strategy; and process imagedata obtained by an imaging device carried by the UAV based on thetarget image processing strategy to obtain processed image data.
 17. Thedevice of claim 16, wherein the program instructions further cause theprocessor to: obtain an imaging mode initiated by the imaging device;and select the target image processing strategy from the plurality ofimage processing strategies based on the flight state information andthe imaging mode.
 18. The device of claim 16, wherein the plurality ofimage processing strategies further include an image cropping strategy,and the program instructions further cause the processor to: in responseto the target image processing strategy being the image stabilizationstrategy, perform electronic stabilization on the image data based onthe image stabilization strategy; or in response to the target imageprocessing strategy being the image cropping strategy, perform croppingprocessing on the image data based on the image cropping strategy. 19.The device of claim 18, wherein the flight state information includes aflight speed, and the program instructions further cause the processorto: select the image stabilization strategy as the target imageprocessing strategy in response to the flight speed of the UAV beingless than a predetermined speed threshold; or select the image croppingstrategy as the target image processing strategy in response to theflight speed of the UAV being greater than or equal to the predeterminedspeed threshold and the imaging mode being a video capturing mode. 20.The device of claim 18, wherein the flight state information includesattitude information, and the program instructions further cause theprocessor to: determine a flight attitude angle of the UAV based on theattitude information of the UAV; and select the target image processingstrategy based on the flight attitude angle, including: selecting theimage stabilization strategy as the target image processing strategy inresponse to the flight attitude angle being less than a predeterminedattitude angle; or selecting the image cropping strategy as the targetimage processing strategy in response to the flight attitude angle beinggreater than or equal to the predetermined attitude angle and theimaging mode being a video capturing mode.